USPTO Patents Application 10597633

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PATENT ABSTRACTS OF JAPAN

(1 l)Publication number : 2000-279463
(43)Date of pubUcation of application : 10.10.2000

(51)Int.Cl.

(21) Application number

(22) Date of filing :

A61H 1/02

11-090573
31.03.1999

(71) Applicant : SANYO ELECTRIC CO LTD

(72) Inventor : OGAWA ATSUSIU

SUMIYA KAZUE
MORIKAWA MASASHI
TAKAO HIROSHI

7 ff":

(54) TRAINING DEVICE FOR SUPERIOR LIMB FUNCTION RECOVERY
(57)Abstract:

PROBLEM TO BE SOLVED; To easily execute a function
recovery training with a simple configuration by detecting
a superior limb action state, calculating an action orbit,
guiding tlie operation of a superior limb support means on
the basis of the difference between the action orbit and a
Yargef orbit aiitf^d^^^^^
action orbit with the target orbit.
SOLUTION: The actual action orbit of a superior limb
hanging and supporting device is detected by a sensor
device 70 including a position sensor and a force sensor
mcorporated in respective driving a devices 54-64. The
result is inputted to the central processing unit 16 of a
computer 18 as a digital signal via an amplifier 72 and an
A/D converter 74 ^„a^
orbit and the target orbit is calculated. A driving
correction signal based on the result is transmitted to the
driving devices 54-64 to correct the orbit of the superior
limb hanging and supporting device. The target orbit and
the actual orbit are displayed in a monitor unage display

device 22. Thus a training situation is recognized and grasped to easily execute training.

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JP,2000-279463 A [CLAIMS]
* NOTICES *

1/1 ^— i>

JFO and INPIT are not responsible For any
damages caused by the use oF tbis translation,

1. This document has been translated by computer. So the translation may not reflect the original
precisely,

2, **** shows the word which can not be translated.
3,In the drawings, any words are not translated.

CLAIMS

[Claim (s)]

[Claim 1]A driving means which hangs or raises, and supports an upper extremity, and drives a
movable upper extremity support means and said support means, A dead -weight -compensation
means to compensate gravity of said support means, a goal setting means to set up a target orbit
of said upper extremity, A sensor means which detects an operating state of said upper extremity,
an arithmetic processing; means which computes difference with an orbit of said upper extremity of
operation, and said target orbit based on a signal detected by said sensor means. And an upper
extremity functional recovery training device which is provided with a displaying means which
displays said orbit of operation and said target orbit on a screen, and is characterized by
controlling said diiving means based on said difference computed by said arithmetic processing
means,

[ClaM 2]The "uppe^^^

said sensor means contains a position sensing device and a force sensor

[Claim 3] The upper extremity functional recovery training device according to claim 1 or 2 with

which said driving means contains a linear drive and a rotary drive.

[Claim 4]The upper extremity functional recovery training device according to any one of claims 1
to 3 with which said dead -weight -compensation means contains a spring member.
[Claim 5]The upper extremity functional recovery training device according to any one of claims 1
to 4 with which said upper extremity support means contains an appliance with which an elbow

. part Buid a wrist part of an upper are equipped.

[Claim 6] The upper extremity functional recovery training device according to any one of claims 1
to 5 displayed in the state where said displaying means differ said target orbit and said orbit of
operation.

[Claim 7] The upper extremity functional recovery training device according to any one of claims 1
to 6 with which said displaying means displays quantitatively a degree of said orbit of operation to
said target orbit

[Translation done.]

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* NOTICES *

JPO and INPH are not responsible for any
damages caused by the use of this translation.

1. This document has been translated by computer. So the translation may not reflect the original
precisely,

2. **** shows the word which can not be translated,
3.1n the drawings, any words are not translated.

DETAILED DESCRIPTION

[Detailed Description of the Invention]
[0001]

[Industrial Application] Especially this invention relates to the upper extremity functional recovery
training device used for that functional recoveiy training for those who have a handicap in an
upper extremity motor function according to the illness or the sequela of a trauma about an upper
extremity functional recovery training device.
[0002]

[Description of the Prior Art] As opposed to the brain disorder by the cord injury by the present

and a traffic accident, cerebral infarction, cerebral apoplexy, etc., or the physical action disabled
person who needs functional recovery training due to the vital function fall of an upper extremity^
i.e., an^^^a

basis of the help of a physical therapist a nurse, etc.

[0003] As a device for performing conventionally assistance of those who have a handicap in an
upper extremity motor function of operation^ For example, the crane mechanism by the arm
suspension device which supported the upper extremity with the spring, the upper extremity
externally powered orthosis which moves an upper extremity up and down using a line of thread, or
a level manipulator and the line of thread moving up and down, etc. are proposed, without using
power.
[0004]

[Problem(s) to be Solved by the Invention] However^^^ is. remarkably

complicated with them when kinematic control which cannot control operation of an upper
extremity by big flexibility by easy composition and control, and can be satisfied if the device is
easy cannot be performed but it can be conversely satisfied with these existing training devices,
[0005]If the form which fixes a training patient's arm to the manipulator driven mechanically in the
externally powered orthosis for performmg support of spontaneous operation of an upper
extremity, a training function, etc, is taken, in order to give a training patient the insecurity of
being restrained by machinery, The weight saving of the whole device is attained, removing this
insecurity, and to fully consider also about the safety at the time of training operation is desired,
[0006]Functional recovery training (rehabilitation) is accompanied by a bodily pain and mental
anguish for a training patient Since train contents are also repetitions of compar atively
monotonous operation, there is a problem that a training patient loses a motivation in many cases.
[0007] So, the main purpose of this invention is easy to constitute, and is providing the upper
extremity functional recovery training device with which a training patient can moreover perform
functional recovery training freely.
[0008]

[Means for Solving the Problem]An upper extremity support means movable [ that hang or raise
and this invention supports an upper extremity ], A driving means which drives this support means,
a gravity guarantee means to guarantee gravity of a support means, A goal setting means to set up
a target orbit of an upper extremity, a sensor means which detects an operating state of an upper
extremity, An arithmetic processing means which computes difference with an orbit of an upper
extremity of operation, and a target orbit based on a signal detected by this sensor means, And it
is an upper extremity functional recovery training device which is provided with a displaying means
which displays an orbit of operation and a target orbit on a screen, and is characterized by

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controlling a driving means based on difference further computed by an arithmetic processing

means.

[0009]

[FunctionjAn upper extremity support means is moved by a driving means along the target orbit
set up arbitrarily, and the operating state of a actual upper extremity is detected by a sensor
means, an orbit of operation is computed by an arithmetic processing means, a driving means is
controlled based on the difference of this orbit of operation and a target orbit, and operation of an
upper extremity support means is derived. Since the orbit of the upper extremity to a target orbit
of operation and its coincidence degree are displayed on a displaying means, training is performed
easily.
[0010]

[Effect of the Invention] According to this invention, the training patient can perform functional
recovery training movement of an upper extremity reasonable by easy composition. Since the
situation of actual training operation is displayed, it becomes possible [ a patient ] to perform
rehabilitation very enthusiastically, and early functional recovery is expected.
[OOlljThe above-mentioned purpose of this invention, the other purposes, the feature, and an
advantage will become still clearer from the detailed explanation of the following examples given
with reference to drawings.
[0012]

[Example] In drawjn the upper extremity functional recoveiy training device 10 which is one
example of this invention, The key input device 12, the below-mentioned memory storage 14, And
the device main frame 28 provided with the supporter 26 prolonged above the pedestal 20 from
the pedestal 20 which arranges the computer 18 containing the central processmg unit (CPU) 16,

the vertical section 24 which is set up from this pedestal 20 and has the image display device 22

for a monitor, and the upper bed part of this vertical section 24, It is hun^ by this supporter 26 and
comprises the movable upper extremity pendant means for supporting 30 in the direction of a
three dimension (X, Y, Z), ****** top means for supporting may be used besides the upper
extremity pendant means for supporting 30.

[0013]The upper extremity pendant means for supporting 30 are supported by the support frame
member 32 and this frame member 32 of the rectangular shape which forms the horizontal
supporting section 26 via the pendant link mechanism 40 at the crossing part 38 of the two guide
members 34 and 36 constructed over cross shape. This pendant link mechanism 40 comprised the

upper extremity supporting Hnk 44 connected with the^ p^ and this pendant link, and

also the appliances 50 and 52 of belt shape with which the elbow part 46 and the wrist part 48 of
the trainmg patient M who performs functional recovery training are equipped are attached to the
upper extremity supporting link 44, respectively,

[00 14] The linear drives 54, 56, and 58 containing the reversible rotary motor which gives a
straight -line motion horizontally (a cross direction and a longitudinal direction) for the upper
extremity pendant means for supporting 30 via the pendant link mechanism 40 are formed in each
guide members 34 and 36 and the crossing part 38 of those.

[001 5] And if the linear drive 54 is driven, the upper extremity pendant means for supporting 30 will
move to a cross direction, and if the linear drive 56 is driven, the upper extremity pendant means
for supporting 30 will move to a longitudinal direction, and if the linear drive 58 is driven further,
the upper extremity pendant means for supporting 30 will move to a sliding direction.
[0016]On the other hand, the appliance 52 of the belt shape which supports the pendant link 42,
the upper extremity supporting link 44, and the wrist part 48 of the pendant link mechanism 40 is
equipped with the rotary drives 60, 62, and 64 containing the motor which gives the rotational
movement which became independent to these. Namely, if rotational movement is given to the
pendant link 42 from the rotary drive 60, the upper extremity 66 will be rotated. If rotational
movement is given to the upper extremity supporting link 44 from the rotary drive 62, the elbow
part 46 will be rotated, and if rotational movement is further given to the appliance 52 of the wrist
part 48 from the rotary drive 64, the wrist part 48 can be rotated.

[0017]These are suitably controlled by the computer 18 arranged at the pedestal 20 of the device
main frame 28 including the reduction gears with which each linear drives 54-58 and each rotary
drives 60-64 are illustrated by neither in addition to a motor, a spring and a damper mechanism
and the below -mentioned position sensing device, a force sensor, etc. And the driving force of

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each drives 54-64 is transmitted to the upper extremity pendant means for supporting 30 via the
mechanism containing a rack, a pinion, and a ball screw. The dead -weight -compensation device
with which the pendant link 42 is compensated for the gravity of an upper extremity and which
contains a coil spring member for example, it is not illustrated is built into the drive 60 with the
force sensor, and dead weight compensation is automatically adjusted by controlling these by the
computer 18. Therefore, it is not necessary to adjust beforehand the difference of the dead weight
compensation for every training patient everybody, and operation of rehabilitation training etc, can
be started. So, when moving an upper extremity in the perpendicular direction, dead weight
compensation is not resisting.

[0018]Virtual spring and damper mechanism by the impedance control mentioned later prevent the
overload over the upper extremity 66, and changes the permissible dose of the gap from the orbit
of the upper extremity 66 of operation by adjusting the size of a spring and a damper ingredient
according to the training patient s M condition. When the load more than the full limits of the
target orbit set up as an object for training of the upper extremity 66 is applied^ a force sensor
interrupts training, dispels the restraint of the upper extremity 66, and secures safety. Since the
state of an orbit of operation over the target orbit of the upper extremity 66 can be quantitatively
treated in the case of training, a medical practitioner and a physical therapist are provided with the
judgment source of the training patient's M functional recovery degree, and the volition over a
patient's training is promoted.

[001 9] A position sensing device gives reproducibility of operation to the upper extremity functional
recovery training device 10 by grasping operation of each linear drives 54-58 in the case of moving
the target orbit which ran along specific upper extremity operation, and each rotary drives 60-64.
[0020]The device main frame 28 includes the memory storage 14, a power supply, etc. which set
up the computer 18 which controls each linear drives 54-58 and each rotaiy drives 60-64 as
mentioned above, a target orbit, etc., A mode change is performed by the key input device 12, and
instructions according to the training patient's itself operation, a sound, or a myo electric signal
according to a use are also possible for the operating command to the memory storage 14. A
training patient, a medical practitioner, a physical therapist, etc. can check the comparison degree
to an entry content the situation of training, a result, and a target, etc, with the monitor image
display 22,

[0021] Therefore, the upper extremity pendant means for supporting 30 can perform functional
recovery trainmg of an upper extremity, after the training patient has sat on the chair which is not

illustrated by the motion control by the combination of a level drive and rotation. Of course; it is

also possible for setting out change, an electronic sound of training time or the number of times of
training, etc, to report the end of training time or the number of times of training to a training
patient.

[0022]Here. the outline of the impedance control of the upper extremity functional recovery
training device 10 is explained.

[0023]First, generation of the target orbit for training an upper extremity sets up the orbit
acquired by the calculated standard orbit of operation or teaching,

[0024] And in functional recovery training (rehabilitation) operation (mode). From tlie cuixent
coordinates of the effector (end effector: portion which generally acts on environment by the tip
part of a manipulator) obtained from the position sensing device or angle sensor (force sensor) of
manipulators (for example, XYZ rectangular cross type manipulator etc.). UV axis is set as a flat
surface vertical to a target orbit including these coordinates, it transforms to this in quest of the
moving coordinate system tfVW which sets W axis as an orbit and a tangential direction, and the
position which serves as a target orbit in this coordinates space is searched for. That is,
conversion of the coordinate system from X, Y, and Z space to U on the basis of a flat surface
vertical to a target orbit V, and W space is shown in (a) of drawing 2. and (b).
[002 5] And in the moving coordinate system UVW, the position of the present effector which
makes the starting point the target orbit on the UVW coordinates in a certain time U i.B., the error
from a target orbit, is set to [u (t), v (t), w (t)], respectively,

[0026]The inertia of the upper extremity on which a manipulator and a manipulator act is
expressed with the coefficient of inertia J as a mass point of the position of the present effector.
The value beforehand measured by parameter measuring mode is used for this coefficient.
[0027] Next, according to the grade of rehabilitation training, the constraint which met the target

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orbit in UVW coordinates space is established. As shown in drawing 3, specifically in a flat surface
vertical to an orbit (UV flat surface), the coefficient of viscosity D proportional to the
displacement from a target orbit or displacement speed and spring -modulus K are set up.
[0028]And only the viscous coefficient D used as the load according to speed is set to the
direction of a target orbit i.e., W shaft orientations. Each parameter is a vector.
It is shown like several 1.

[0029]
[Equation 1]

[0030]When a training patient (user) adds power F[ of an effector ] = [F^^ F^, and F^j using the

above-mentioned parameter, the equation of motion becomes like several 2.

[0031]

[Equation 2]

cu' at

[0032] Several 3 is another expression of several 2.

[0033]

[Equation 3'

K

es —

-0

0

0

I)

0 /

vU)

+

it

ft

0 />..

0

0

(-)-

0

TV

0 n 0

«<01

+

[0034]Vector Fg=[fy» fy' ^ ^ '^^^ paragraph in several 3 is steady load force.

It uses, when giving load fixed at the time of rehabilitation operation or performing dead weight
compensation.

[QQ351 Drawin g 4 is a block diagram of an impedance control system of the upper extremity
pendant means for supporting 30 in the apparatus 10 which performs rehabilitation along a target
orbit usmg the above-mentioned equation of motion, for example, an upper extremity functional
recovery trainmg device.

[Q036]An input is a force detection value of the power sensor with which the effector was
equipped and which can detect the power of three axes of XYZ at least.

This is changed into a UVW coordinate system by the above-mentioned coordinate conversion,
and it asks for F-IF., F„, F^^ 1 ^.

[0037] On the other hand, an output is a position of the effector connected to the manipulator
This position is detected and fed back with a position sensing device. From the detected current
position, the target position on the orbit beforehand set to rehabilitation (playback operation) is
computed, and a current position is changed into the UVW moving coordinate system which makes
these coordinates the starting point. And the coordinates acquired by conversion are [u (t), v (t), w

(t)]

[0038]From the impedance parameter beforehand set to the above controlled variable, the
command value of a UVW coordinate system is calculated, it transforms inversely to an XYZ

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coordinate system, and a command value is given to a manipulator, i.e.» training equipment And all
of these processings are performed by the computer.

[0039]And assistance at the time of a training patient performing upper extremity operation by
this, orbital instruction training by controlling each linear drives 54-58 and each rotary drives 60-
64 so that a training patient's upper extremity 66 moves on the target orbit decided beforehand.
Creation of an orbit required for orbital instruction training by controlling each above-mentioned
linear drive and each rotary drive to limit the orbit of a patient's upper extremity voluntary action
and these trainings etc. are performed.

[0040]Here, each above-mentioned training operation and orbital creation are explained further.
Assistance of upper extremity operation : (1) The real time operation by the dead weight
compensation over upper extremity operation, a training patient, a care worker, etc.. To be able to
assist upper extremity operations, such as an orbit by the input of operation of performing the
various operation patterns inputted beforehand and fine adjustment of those etc., each linear
drives 54-58 and each rotary drives 60-64 are driven, and it controls by the computer 18.
(2) Orbital instruction training by each drive : drive and control each linear drives 54-58 and each
rotary drives 60-64 to move on the target orbit 68 where the upper extremity 66 was inputted.
And training which repeats movement along the target orbit 68 of the upper extremity 66 m the
case of performing a certain operation is performed.

Orbital instruction training by a voluntary action : (3) Only a virtual spring and a damper ingredient
are used to an orbital normal line direction so that it may move on the orbit 68 as which the upper
extremity 66 which performs a voluntary action was inputted, Each linear drives 54-58 and each
rotary drives 60-64 are driven using a power sensor so that a drag may not work to a tangential
direction. Thereby, a training patient trains the upper extremity operation which met the target
— - orbit by the voluntary action,

(4) Orbital creation : record the movement track of the upper extremity in the case of performing
upper extremity operation which has first a healthy person who does not have a functional
disorder in an upper extremity. This performs orbital creation for the various upper extremity
operation patterns for assistance of operation, and training, etc.

[0041]That is, equip a healthy person's upper extremity with the appliances 50 and 52 of the upper
extremity functional recovery training device 10, a certain specific upper extremity operation is
made to perform, and an upper extremity position and speed are detected using a position and a
velocity sensor. And orbital creation is performed by recording the operation of each above-
mentioned linear dm to the oj1)it oT operation on the meihoiy stora^
arranged by the position sensing device at the device main frame 28.

[0042]And according to the orbit created in this way, an original upper extremity function will be

gradually recovered by carrying out repeat execution of the functional recovery training of a

training patient's upper extremity. Of course, a training patient's measure highly motivated or

individual difference cannot generally discuss the grade of functional recovery.

[0043]An outline of operation is explained based on the functional block diagram shown in drawing

5.

[00 44] First, the target orbit which operates the key input device 12 and is used as the memory
storage 14 of the computer 18 with a training target is selected. Next the training patient M sits on
the chair provided in front of the device main frame 28, the elbow part and wrist part of the upper
extremity which needs functional recovery training are held with the belt shape appliances 50 and
52 of the upper extremity pendant means for supporting 30, and training is started. As for a dead-
weight-compensation device, at this time, dead weight compensation is automatically adjusted with
control of the computer 18 according to a training patient based on the rotary drive 60 and a force
sensor.

[0045]And a target orbit is read from the memory storage 14, and an actuating signal is outputted
from the central processing unit (CPU) 16. This signal is transmitted to each drives 54-58, and 60-
64 via I/O interface 68, each above-mentioned drives 54-64 drive it based on this signal, and the
upper extremity pendant means for supporting 30 which supported the upper extremity are moved
in order that there are along a target orbit

[0046]however, since the training patient's upper extremity has caused the depression, the actual

orbit of the upper extremity pendant means for supporting 30 of operation serves as "gap"

from a target orbit for a while. The sensor apparatus 70 contaming the position sensing device and

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force sensor which were built into each drives 54-64 in this "gap" detects, this detecting signal is
amplified with the amplifier 72, and it changes into a digital signal with A/D converter 74 further.
And based on this digital signal difference with an orbit of operation and a target orbit calculates
with the central processing unit 16 of the computer 18, The drive correcting signal based on this
difference is transmitted to each drives 54-64 via I/O interface 68 from the central processmg
unit 16, and each drive operates so that the orbit of the upper extremity pendant means for
supporting 30 of operation may be corrected and a target orbit may be approached.
[0047]The target orbit and the actual orbit of operation of the upper extremity pendant means for
supporting 30 are displayed on the image display device 22 for a monitor from the central
processing unit 16, and since the correction orbit based on the difference of both orbits is also fed
back and displayed, the training patient can carry out the recognition grasp of the training
condition immediately by vision.

[0048]It is also possible to also set simultaneously working speed, the number of times of training,
and training time as a computer as mentioned above as a training target in addition to a target
orbit, and to display on the image display device 22 for a monitor,
[0049]An operation situation is explained based on the flow chart shown in dra wing 6 .
[0050] First a power supply is switched on and started. The dead weight compensation of the
upper extremity held at Step SI at the upper extremity pendant means for supporting 30 is
adjusted automatically. Next at Step S3, the performance information of the upper extremity held
with the upper extremity pendant means for supporting 30 by the sensor apparatus 70 is detected.
At Step S5, it changes into a patient's orbit of operation by computer 18 based on the
performance information detected at Step S3. At Step S7, the difference of the target orbit
currently recorded on the memory storage 14 of the computer 18 and the orbit of operation

changed at Step S 5 is computed witli the central processing unit 16^

[0051 J And based on the difference computed at Step S7 in step S9, the correction value of an
orbit of operation is further calculated with the central processing unit 16, and each drive
(actuator) control is performed at Step Sll via I/O interface 68 based on the invitation for
amendment In Step SI 3, the operation adjustments which approach a target orbit based on
actuator control in the orbit of the upper extremity pendant means for supporting 30 of operation
are performed, and a series of operations are completed (end), winding this the operation of a
series of henceforth -- ****** a patient's upper extremity functional recovery training is
performed by things.

[Translation done,]

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JP,2000"279463,A [DESCRIPTION OF DRAWINGS]

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* NOTICES *

JPO and INFIT are not responsible Tor any
damages caused by the use of this translation*

LThis document has been translated by computer. So the translation may not reflect the original

precisely,

2,**** shows the word which can not be translated.
3Jn the drawings, any words are not translated.

DESCRIPTION OF DRAWINGS

[Brief Description of the Drawings]

[Drawing li lt is an illustration figure of the outline composition of the upper extremity functional
recovery training device in which one example of this invention is shown,
ISiawmg 2i(a) And (b) is an approximate account figure showing conversion of the coordinate
system in the impedance control of an upper extremity functional recovery training device.

[Drawin g 3 lit is an explanatory view showing the constraint which met the target orbit in UVW
coordinate system space according to the grade of rehabilitation training.

[Drawing 4 l it is a block diagram of an impedance control system of an upper extremity functional

recovery training device which performs rehabilitation along a target orbit.
[Drawing 51 It is a functional block diagram of the upper extremity functional recovery training
_ device m^^

[Drawing 61 I t is a flow chart which shows the flow of the operation outline in drawing 5 .
[Description of Notationsi

10 Upper extremity functional recovery training device

12 Key input device

14 -- Memory storage

16 Central processing unit (CPU)

18 -- Computer

22 -- Image display device for a monitor

28- — -DeviGe-nialn-frame -■ -

30 - - Upper extremity pendant means for supporting

50 and 52 -- Appliance

54, 56, and 58 -- Linear drive

60, 62, and 64 - - Rotary drive

68 - - I/O interface (input/output interface)

70 - - Sensor apparatus (a position sensing device and a force sensor are included)

72 - - Amplifier

74 -- A/D converter

[Translation done.]

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